This tells you the most likely title you need is title 1, with 23 chapters/songs (in this case) to choose from and 2 audio formats. The tricky bit is to find out what chapter number the track has you want to rip. Start counting

Don't omit the -x flag, as it tells transcode what discformat to read. The -i flag is for the device, the -T tells transcode to work with title 1, chapter (song) 18 and angle 1, the -a flag specifies the audio track, -y says not to encode video and encode the audio stream in Ogg-Vorbis, the -b specifies bitrate, -E controls sample rate etc, while -m specifies the name of the output file. Hit enter and wait for it to finish. Given transcode lives on the cli, making a small loop to process every track is relatively easy, but you may want to choose an output name of "Track$1" to avoid files just encoded get written over

Now, given the right encoders transcode can also transcode video formats, just replace the "null" in the -y flag by the name of the codec you want to use (h264, MPEG4, WMV if you really must, and more to choose from) but that kinda beats the idea of ripping a dvd of its audio tracks Do note that other audio formats are also supported, including MP3, WAV and FLAC. Adjust commands to suit your taste

As stated earlier, this is compiled from various sources, including, but not exclusive, the Ubuntu forum and the exhaustive transcode man-page. The above command works for transcode verion 1.0.7 and probably later too, although I haven't tested that nor any previous versions. Check your version with